I have falling debris that I also need to randomly rotate (animate) using VEX in a POP wrangle inside my RBD Bullet Solver.

It seems there are at least 3 steps

1) Determine a random rotation or axis per ptnum
2) Determine a random rotation magnitude per ptnum (increase the angle over time?)
3) Apply this rotation (convert to a quaternion or matrix3 then use to define p@orient or 3@transform ?)

Can any VEXperts help?